同意

src/include/Djitellowhite.h

@@ -0,0 +1,80 @@
+#ifndef _DJITELLOWHITE_H
+#define _DJITELLOWHITE_H
+#include<iostream>
+#include<sys/socket.h>
+#include<arpa/inet.h>
+#include<pthread.h>
+#include<cstring>
+#include<unistd.h>
+/*Library for interacting with DJI Ryze Tello drones.*/
+
+
+//coding = utf - 8
+
+/*    """C++ wrapper to interact with the Ryze Tello drone using the official Tello api.
+    Tello API documentation:
+    [1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf)
+*/
+
+#define RESPONSE_TIMEOUT 7 //in seconds
+#define TAKEOFF_TIMEOUT 20 //in seconds
+#define FRAME_GRAB_TIMEOUT 3
+#define TIME_BTW_COMMANDS 0.1 //in seconds
+#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds
+#define RETRY_COUNT 3 //number of retries after a failed command
+
+
+//Video stream, server socket
+#define VS_UDP_IP "0.0.0.0"
+#define VS_UDP_PORT 11111
+
+#define CONTROL_UDP_PORT 8889
+#define STATE_UDP_PORT 8890
+
+#define BUFFER_SIZE 1024
+//Constants for video settings
+#define BITRATE_AUTO 0
+#define BITRATE_1MBPS 1
+#define BITRATE_2MBPS 2
+#define BITRATE_3MBPS 3
+#define BITRATE_4MBPS 4
+#define BITRATE_5MBPS 5
+#define RESOLUTION_480P "low"
+#define RESOLUTION_720P "high"
+#define FPS_5 "low"
+#define FPS_15 "middle"
+#define FPS_30 "high"
+#define CAMERA_FORWARD 0
+#define CAMERA_DOWNWARD 1
+//日志模块暂时不写
+
+class Tello {
+private:
+	int sock;
+	bool stream_on;
+	unsigned long host;
+public:
+	Tello(const char* IP);
+	~Tello();
+	void set_conf(int socket);
+	unsigned long gethost();
+	void get_connect(sockaddr_in serveraddr);
+	void takeoff(sockaddr_in serveraddr);
+	void land(sockaddr_in serveraddr);
+	void forward(sockaddr_in serveraddr);
+	void back(sockaddr_in serveraddr);
+	void left(sockaddr_in serveraddr);
+	void right(sockaddr_in serveraddr);
+	void up(sockaddr_in serveraddr);
+	void down(sockaddr_in serveraddr);
+	void cw(sockaddr_in serveraddr);
+	void ccw(sockaddr_in serveraddr);
+	bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT);
+	static void *udp_response_receiver(void* arg);
+	void get_video(sockaddr_in serveraddr);
+};
+
+
+
+
+#endif

src/include/Hardwarelistener.h

@@ -0,0 +1,6 @@
+#ifndef _HARDWARELISTENER_H
+#define _HARDWARELISTENER_H
+#include "Djitellowhite.h"
+int listenkeyboard(Tello T,sockaddr_in serveraddr);
+int scanKeyboard();
+#endif

src/main/Djitellowhite.cpp

@@ -0,0 +1,146 @@
+#include"Djitellowhite.h"
+#include<iostream>
+#include<opencv2/opencv.hpp>
+
+
+#include<stdio.h>
+#include<sys/socket.h>
+#include<string.h>
+
+#include<arpa/inet.h>
+#include<sys/types.h>
+
+using namespace cv;
+using namespace std;
+Tello::Tello(const char* IP) {
+	this->stream_on=false;
+	this->host = inet_addr(IP);
+	cout << "create successfully!" << endl;
+	
+}
+Tello::~Tello() {}
+void Tello::set_conf(int socket){
+	this->sock = socket;
+}
+void Tello::get_connect(sockaddr_in serveraddr) {
+	char tmp[10] = {"command"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "connect successfully!" <<endl;
+}
+unsigned long Tello::gethost(){
+	return this->host;
+}
+void Tello::takeoff(sockaddr_in serveraddr) {
+	char tmp[10] = {"takeoff"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "takeoff successfully!" <<endl;
+}
+void Tello::land(sockaddr_in serveraddr) {
+	char tmp[10] = {"land"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "land successfully!" <<endl;
+}
+
+bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
+	char buffer[BUFFER_SIZE];
+	memset(buffer,0,sizeof(buffer));
+	strcpy(buffer,msg);
+	//cout << buffer;
+	sendto(this->sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr));
+	return true;
+}
+void* Tello::udp_response_receiver(void* arg){
+	//int m_SockServer;            //创建socket对象           
+	//sockaddr_in serveraddr;         //创建sockaddr_in对象储存自身信息(当有多个端口，可以多个绑定)
+	//sockaddr_in serveraddrfrom;
+
+	//serveraddr.sin_family = AF_INET;             //设置服务器地址家族
+	//serveraddr.sin_port = htons(8889);           //设置服务器端口号
+	//serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0");
+	//m_SockServer = socket(AF_INET, SOCK_DGRAM, 0);    //创建一个临时变量并赋值给m_SockServer
+	//int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr));    //把名字和套接字绑定
+	//std::cout << "bind:" << i << std::endl;
+
+	int socket = *(int *)arg;	
+	
+	cout << "receive start" << endl;
+	while(1){
+		char buffer[20];
+		int iret;
+		memset(buffer,0,sizeof(buffer));
+		
+		iret = recv(socket, buffer,20,MSG_WAITALL);
+		if(iret > 0 && iret <10){
+			printf("Message from tello: %s\n", buffer);	
+		}
+	}
+}
+void Tello::forward(sockaddr_in serveraddr){
+	char tmp[15] = {"forward 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "forward successfully!" <<endl;
+}
+void Tello::back(sockaddr_in serveraddr){
+	char tmp[15] = {"back 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "back successfully!" <<endl;
+}
+void Tello::left(sockaddr_in serveraddr){
+	char tmp[15] = {"left 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "left successfully!" <<endl;
+}
+void Tello::right(sockaddr_in serveraddr){
+	char tmp[15] = {"right 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "right successfully!" <<endl;
+}
+void Tello::up(sockaddr_in serveraddr){
+	char tmp[15] = {"up 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "up successfully!" <<endl;
+}
+void Tello::down(sockaddr_in serveraddr){
+	char tmp[15] = {"down 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "down successfully!" <<endl;
+}
+void Tello::cw(sockaddr_in serveraddr){
+	char tmp[15] = {"cw 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "cw successfully!" <<endl;
+}
+void Tello::ccw(sockaddr_in serveraddr){
+	char tmp[15] = {"ccw 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "ccw successfully!" <<endl;
+}
+void Tello::get_video(sockaddr_in serveraddr){
+	
+	char tmp[15] = {"streamon"};
+	send_message(tmp,serveraddr,0);
+	cout << "stream_on successfully!" <<endl;
+	this->stream_on = true;
+	
+	cout << "vid";
+	VideoCapture cap("udp://@0.0.0.0:11111");
+	cout << "cap";
+	if(!cap.isOpened()){
+		cout << "fuck off";
+		return;
+	}
+
+	Mat frame;
+	cout << "continue!";
+	while(1){
+		cap>>frame;
+		if(frame.empty())
+			break;
+		imshow("video",frame);
+		waitKey(20);
+		
+	}
+	cap.release();
+	
+	
+}

src/main/Triplet.cpp

@@ -0,0 +1,45 @@
+#include"Djitellowhite.h"
+#include"Hardwarelistener.h"
+#include<iostream>
+using namespace std;
+int main(void){
+	Tello T("192.168.10.1");
+	int socket_fd, err;
+
+	if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
+	{
+		cout << "initialized error" << endl;
+		cout << 0;
+		return -1;
+	}
+	
+	//cout << 1 << socket_fd;
+	T.set_conf(socket_fd);
+	
+	pthread_t thread_receive;
+	err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
+	sleep(3);
+	struct sockaddr_in serveraddr;
+	memset(&serveraddr,0,sizeof(serveraddr));
+	serveraddr.sin_family=AF_INET;
+	serveraddr.sin_addr.s_addr=T.gethost();
+	serveraddr.sin_port=htons(CONTROL_UDP_PORT);
+	
+
+	
+	if(err!=0)
+	{
+		cout << err << " " << "can't create thread";
+	}
+	
+	T.get_connect(serveraddr);
+	//sleep(1);
+	//T.takeoff(serveraddr);
+	T.get_video(serveraddr);
+	sleep(5);
+	//T.land(serveraddr);
+	
+	pthread_join(thread_receive,NULL);
+	listenkeyboard(T,serveraddr);
+	return 0;
+}

src/main/keyboard.cpp

@@ -0,0 +1,57 @@
+#include <termio.h>
+#include <stdio.h>
+#include "Hardwarelistener.h"
+#include <iostream>
+
+using namespace std;
+int scanKeyboard()
+{
+ 
+	int in;
+ 
+	struct termios new_settings;
+	struct termios stored_settings;
+    //设置终端参数
+	tcgetattr(0,&stored_settings);
+	new_settings = stored_settings;
+	new_settings.c_lflag &= (~ICANON);
+	new_settings.c_cc[VTIME] = 0;
+	tcgetattr(0,&stored_settings);
+	new_settings.c_cc[VMIN] = 1;
+	tcsetattr(0,TCSANOW,&new_settings);
+	in = getchar();
+	tcsetattr(0,TCSANOW,&stored_settings);
+ 
+	return in;
+ 
+}
+ 
+//测试函数
+int listenkeyboard(Tello T, sockaddr_in serveraddr){
+ 	while(1){
+		switch(scanKeyboard())
+		{
+			case (int)'w':
+				cout << "forward"<< endl;
+				T.forward(serveraddr);
+				break;
+			case (int)'s':
+				cout << "back" << endl;
+				T.back(serveraddr);
+				break;
+			case (int)'a':
+				cout << "left" <<endl;
+				T.left(serveraddr);
+				break;
+			case (int)'d':
+				cout << "right"<<endl;
+				T.right(serveraddr);
+				break;
+		}
+ 	}
+ 	return 0;
+
+//	while(1){
+//		printf("%d\n",scanKeyboard());
+//	}
+}

src/main/server.cpp

@@ -0,0 +1,58 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <string.h>
+#define PORT 8890
+
+void udp_server(int sockfd)
+{
+
+    socklen_t len;
+    char buf[1024] = {0};
+    struct sockaddr_in server_addr;
+    int n;
+    int opt = 1;
+    len = sizeof(server_addr);
+    memset(&buf, 0, sizeof(buf));
+    server_addr.sin_family = AF_INET;
+    server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+    server_addr.sin_port = htons(PORT);
+
+    setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));  //当服务器非正常断开的时候重启服务器，不会进入TIME_WAIT状态
+
+    if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
+        printf("can not bind\n");
+        exit(1);
+    }
+
+    while (1) {
+        printf("========wait for client's request========\n");
+        n = recvfrom(sockfd, buf, sizeof(buf), 0, (struct sockaddr *)&server_addr, &len);
+        buf[n] = '\0';
+        printf("receive client's data: %s\n", buf);
+        sendto(sockfd, buf, n, 0, (struct sockaddr *)&server_addr, len);
+        printf("send data to client: %s\n", buf);
+    }
+
+    close(sockfd);
+}
+
+int main(int argc, char **argv)
+{
+    int sockfd;
+
+    if ((sockfd = socket(PF_INET, SOCK_DGRAM, 0)) < 0) {
+        printf("create socket false\n");
+        exit(1);
+    }
+
+    udp_server(sockfd);
+
+    exit(0);
+}
+
+